Least Restrictive Supervisors for Intersection Collision Avoidance: A Scheduling Approach
Name
ColomboTAC.pdf
Size
1.58 MB
Format
Adobe PDF
Checksum (MD5)
cd9c6decf658e645ea830aaf9229aca8
Author(s)
Colombo, Alessandro
Del Vecchio, Domitilla
Date Issued
May 2015
Journal
IEEE Transactions on Automatic Control
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Colombo, Alessandro, and Domitilla Del Vecchio. “Least Restrictive Supervisors for Intersection Collision Avoidance: A Scheduling Approach.” IEEE Transactions on Automatic Control 60, no. 6 (June 2015): 1515–1527.
Version
Author's final manuscript
Abstract
We consider a cooperative conflict resolution problem that finds application, for example, in vehicle intersection crossing. We seek to determine minimally restrictive supervisors, which allow agents to choose all possible control actions that keep the system safe, that is, conflict free. This is achieved by determining the maximal controlled invariant set, and then by determining control actions that keep the system state inside this set. By exploiting the natural monotonicity of the agents dynamics along their paths, we translate this problem into an equivalent scheduling problem. This allows us to leverage existing results in the scheduling literature to obtain both exact and approximate solutions. The approximate algorithms have polynomial complexity and can handle large problems with guaranteed approximation bounds. We illustrate the application of the proposed algorithms through simulations in which vehicles crossing an intersection are overridden by the supervisor only when necessary to maintain safety.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/TAC.2014.2381453
